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Unmanned surface ship dynamic collision avoidance method based on track re-planning

An unmanned boat, re-planning technology, applied in navigation, surveying and navigation, navigation calculation tools, etc.

Active Publication Date: 2019-10-22
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Aiming at the dynamic collision avoidance problem of the surface unmanned boat, the present invention introduces the geometric model description of the speed obstacle region based on the direction bounding box and the motion model description of the speed obstacle region based on the speed uncertainty to model the speed obstacle region

Method used

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  • Unmanned surface ship dynamic collision avoidance method based on track re-planning
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  • Unmanned surface ship dynamic collision avoidance method based on track re-planning

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Embodiment

[0066] This embodiment provides a dynamic collision avoidance method for surface unmanned boats based on track re-planning, such as figure 1 shown, including the following steps:

[0067] The first step is to collect real-time data from boat-borne sensors and obtain key information in the process of dynamic collision avoidance; specifically: use the AIS system to obtain the geometric size information and motion information of ships sailing in the neighborhood, and use GPS to obtain the latitude and longitude of surface unmanned ships , use the electronic compass to obtain the three-dimensional heading angle of the surface unmanned vehicle;

[0068] In the second step, according to the geometric information and motion information of the neighborhood navigation ship and the surface unmanned vessel, when constructing the collision cone area, the surface unmanned vehicle body and the neighborhood navigation vessel are described by the direction bounding box, as shown in figure 2...

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Abstract

The invention discloses an unmanned surface ship dynamic collision avoidance method based on track re-planning. The method comprises the following steps of acquiring navigation information of a neighborhood ship and posture information of an unmanned ship through a ship-borne sensor; constructing a collision cone between the unmanned ship and the neighborhood ship; introducing uncertainty of motion information observation of the neighborhood ship, and applying a layer of soft constraints to the collision cone; applying a speed and a heading limited range of the unmanned ship; obtaining a finalcandidate speed set; introducing a cost function to select an optimal collision avoidance speed; and using the optimal collision avoidance speed to carry out inner loop of navigation simulation, andacquiring a track re-planning point of unmanned ship dynamic collision avoidance. The dynamic collision avoidance decision of the unmanned surface ship is output in a form of track re-planning, whichsatisfies a constraint of international regulations for preventing collisions at sea. The method can well adapt to steering control of the unmanned ship, and a dynamic collision avoidance requirementof the unmanned ship is satisfied.

Description

technical field [0001] The invention relates to the technical field of autonomous intelligent control of unmanned boats, in particular to a dynamic collision avoidance method for surface unmanned boats based on track replanning. Background technique [0002] In terms of military use, as a pioneer of future ocean warfare, unmanned surface vehicles are an important tool for the country to safeguard maritime rights and interests. In terms of civilian use, it can replace crew members to perform tasks, thereby effectively reducing the amount of manual work and reducing the risk of operations. It can be used in military operations and sea patrols. , reef supply and other fields have a wide range of application requirements. Due to the complexity of the ocean environment, there are large uncertainties, so the highly intelligent collision avoidance level of the surface unmanned vehicle is the key to its safe navigation in complex sea areas. At present, although my country has made ...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0206G01C21/203B63B43/18B63B79/10B63B2035/006G08G3/02G01C21/005G01C21/16G01S19/42G01S5/02
Inventor 洪晓斌朱坤财魏新勇
Owner SOUTH CHINA UNIV OF TECH
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